6dofimu22

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6DOF IMU 22 Click

6DOF IMU 22 Click demo application is developed using the NECTO Studio, ensuring compatibility with mikroSDK's open-source libraries and tools. Designed for plug-and-play implementation and testing, the demo is fully compatible with all development, starter, and mikromedia boards featuring a mikroBUS™ socket.

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Click Library

• Author : Stefan Filipovic
• Date : Nov 2023.
• Type : I2C/SPI type

Software Support

Example Description

This example demonstrates the use of 6DOF IMU 22 Click board by reading and displaying the accelerometer and gyroscope data (X, Y, and Z axis) as well as a temperature measurement in degrees Celsius.

Example Libraries

• MikroSDK.Board
• MikroSDK.Log
• Click.6DOFIMU22

Example Key Functions

• c6dofimu22_cfg_setup Config Object Initialization function.

void c6dofimu22_cfg_setup ( c6dofimu22_cfg_t *cfg );

• c6dofimu22_init Initialization function.

err_t c6dofimu22_init ( c6dofimu22_t *ctx, c6dofimu22_cfg_t *cfg );

• c6dofimu22_default_cfg Click Default Configuration function.

err_t c6dofimu22_default_cfg ( c6dofimu22_t *ctx );

• c6dofimu22_read_data This function reads the accelerometer, gyroscope, and temperature measurement data.

err_t c6dofimu22_read_data ( c6dofimu22_t *ctx, c6dofimu22_data_t *data_out );

• c6dofimu22_get_int1_pin This function returns the INT1 pin logic state.

uint8_t c6dofimu22_get_int1_pin ( c6dofimu22_t *ctx );

• c6dofimu22_clear_data_ready This function clears the data ready interrupt by reading the INT_STATUS_DRDY register.

err_t c6dofimu22_clear_data_ready ( c6dofimu22_t *ctx );

Application Init

Initializes the driver and performs the Click default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu22_cfg_t c6dofimu22_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    c6dofimu22_cfg_setup( &c6dofimu22_cfg );
    C6DOFIMU22_MAP_MIKROBUS( c6dofimu22_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu22_init( &c6dofimu22, &c6dofimu22_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    if ( C6DOFIMU22_ERROR == c6dofimu22_default_cfg ( &c6dofimu22 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );
}

Application Task

Waits for a data ready indication and then reads the accelerometer, gyroscope, and temperature measurements. The results are displayed on the USB UART every 80ms as per the accel and gyro output data rate which is set to 12.5 Hz.

void application_task ( void )
{
    static c6dofimu22_data_t meas_data;
    if ( !c6dofimu22_get_int1_pin ( &c6dofimu22 ) )
    {
        c6dofimu22_clear_data_ready ( &c6dofimu22 );
        if ( C6DOFIMU22_OK == c6dofimu22_read_data ( &c6dofimu22, &meas_data ) )
        {
            log_printf ( &logger, " Accel X: %.2f g\r\n", meas_data.accel.x );
            log_printf ( &logger, " Accel Y: %.2f g\r\n", meas_data.accel.y );
            log_printf ( &logger, " Accel Z: %.2f g\r\n", meas_data.accel.z );
            log_printf ( &logger, " Gyro X: %.1f dps\r\n", meas_data.gyro.x );
            log_printf ( &logger, " Gyro Y: %.1f dps\r\n", meas_data.gyro.y );
            log_printf ( &logger, " Gyro Z: %.1f dps\r\n", meas_data.gyro.z );
            log_printf ( &logger, " Temperature: %.2f C\r\n\n", meas_data.temperature );
        }
    }
}

Application Output

This Click board can be interfaced and monitored in two ways:

• Application Output - Use the "Application Output" window in Debug mode for real-time data monitoring. Set it up properly by following this tutorial.
• UART Terminal - Monitor data via the UART Terminal using a USB to UART converter. For detailed instructions, check out this tutorial.

Additional Notes and Information

The complete application code and a ready-to-use project are available through the NECTO Studio Package Manager for direct installation in the NECTO Studio. The application code can also be found on the MIKROE GitHub account.

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